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BulletSim: add LSL function and plumbing for setting a spring

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equilibrium point in the physics engine constraint.
This commit is contained in:
Robert Adams
2013-09-09 14:53:16 -07:00
parent 5827b6e1aa
commit c5eabb28b4
4 changed files with 40 additions and 3 deletions
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13
OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs
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@@ -85,6 +85,19 @@ public sealed class BSConstraintSpring : BSConstraint6Dof
return true;
}
public bool SetEquilibriumPoint(Vector3 linearEq, Vector3 angularEq)
{
PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},linearEq={3},angularEq={4}",
m_body1.ID, m_body1.ID, m_body2.ID, linearEq, angularEq);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 0, linearEq.X);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 1, linearEq.Y);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 2, linearEq.Z);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 3, angularEq.X);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 4, angularEq.Y);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 5, angularEq.Z);
return true;
}
}
}